JP2005092823A - Method for managing carrying vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method for operation administration of a plurality of carrying vehicles, which improves an availavility by preventing a dead lock state of the plurality of carrying vehicles by simple structure. <P>SOLUTION: The method is for managing the traveling state of the plurality of carrying vehicles 100, ... traveling in a traveling path 300 including a specific area (loop part) having one or more junctions G1, G3 and one or more branches G2 and G4. In the method, the number of the carrying vehicles (3 vehicles) which can be included in the specific area is previously set. When one carrying vehicle 100 enters the specific area, if there are other carrying vehicles 101, ... equal to or more than the previously set number of vehicles in the specific area, entering of the one carrying vehicle 100 into the specific area is not permitted. To put it in the concrete, entering of the carrying vehicle before the junction G1 in a selected drawing to the specific area is not permitted. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a method for managing the operation state of a plurality of transport vehicles traveling along a traveling path, and a management system and management device thereof, and in particular, to prevent a stop state due to mutual interference of a plurality of automatic guided vehicles. It can be done.

  This type of automatic guided vehicle has sensors installed in the traveling direction, and is provided so as to stop in the traveling direction so as not to collide with an obstacle or another automatic guided vehicle.

  Specifically, for example, as shown in FIG. 10A, there is a traveling path 300 on which the automated guided vehicle 100 travels clockwise, and the automated guided vehicle 100 traveling on the traveling point P6 of the traveling path 300 is If there is another automatic guided vehicle before that (for example, point P7), automatic guided vehicle 100 is provided to stop.

  However, at the junctions G1 and G3 and the branch points G2 and G4, for example, there is a possibility that another automatic guided vehicle toward the junctions G1 and G3 becomes a blind spot from the sensor of the automatic guided vehicle and collides. . For this reason, the following method is adopted as a conventional management method for automatic guided vehicles.

  That is, the automatic guided vehicle 100 detects the travel points P1, P2, P3,... Of the travel path 300, recognizes the current traveling position, and transmits the recognized position to the control computer 200 wirelessly. The control computer 200 recognizes the position of each automatic guided vehicle 100 and manages the operation. In this management, when the automatic guided vehicle 100 travels from the travel point P5 → P6 → P7 (branch point G2) → P14 (junction point G3) → P15 → P16, the automatic guided vehicle 100 first stops at P6, and the control computer 200 is requested to enter the branch point G2 and the junction point G3 (travel points P7, P14). Upon receiving this request, the control computer 200 instructs the automatic guided vehicle 100 to wait at the travel point P6 before the branch point G2 when another automatic guided vehicle is passing through the branch point G2 and the junction point G3. To do. The automatic guided vehicle 100 that has received the standby instruction waits at the traveling point P6 before the branch point G2 while stopping. On the other hand, when the other automatic guided vehicle is not passing through the branch point G2 and the junction point G3, or after the other automatic guided vehicle has passed through the branch point G2 and the junction point G3, the control computer 200 The automatic guided vehicle 100 existing at the traveling point P6 before G2 is allowed to enter the branch point G2 and the junction point G3. The automated guided vehicle 100 permitted to enter the branch point G2 and the junction point G3 travels at the travel point P6 → P7 → P14 →... And the junction point G3 and the junction point G3, and the travel point ahead of the junction point G3. When passing through P15, the control computer 200 is notified of the completion of passing through the branch point G2 and the junction point G3. In addition, the control computer 200 permits other unmanned transports until the unmanned transport vehicle 100 is allowed to enter the junctions G2 and G3 and receives a report from the unmanned transport vehicle 100 that the passage of the branch point G2 and the junction G3 is completed. A stand-by instruction is issued to the vehicle, and entry into the branch point G2 and the junction point G3 is not permitted. Here, in the travel path 300 as shown in FIG. 10 (a), a position (standby position) that requests entry to each junction (branch point) and completion of passage of the junction (branch point) are reported. The relationship of the positions is as shown in the table of FIG. Thereby, the collision of automatic guided vehicles is avoided by limiting the number of automatic guided vehicles which can pass a junction and a branch point to one.

  However, in such a travel path 300, as shown in FIG. 11, one unmanned transport vehicle 100 is waiting at a travel point P6 in front of the junction G2 with a right turn in the traveling direction, and another unmanned transport vehicle. The vehicle 101 is traveling straight in the traveling direction and is stopped by detecting the other automatic guided vehicle 102 in front of the vehicle at the junction G3 (traveling point P14), and the other automated guided vehicle 102 is turning right in the traveling direction at the junction G4. The other automatic guided vehicle 103 is standing by at the front traveling point P16, and the other automatic guided vehicle 103 travels straight in the traveling direction and stops at the traveling point P6 before the junction G2 at the junction G1 (traveling point P4). It may be in a state of being stopped by detection with a sensor. In this case, the automatic guided vehicles 100, 101, 102, and 103 are prevented from colliding with each other, but the automatic guided vehicles 100, 101, 102, and 103 interfere with each other and stop. Such a state is also referred to as a deadlock state, and becomes more prominent as the number of junction points / branch points increases, that is, as the number of loop-shaped travel paths including a plurality of junction points / branch points increases.

  As a method for avoiding this deadlock state, a method of reducing the number of junctions / branch points or a method of reducing the number of automatic guided vehicles can be considered. However, if the number of junctions / branch points is reduced, the traveling distance of the automatic guided vehicle until it reaches the destination is increased, and if the number of automatic guided vehicles is reduced, the number of transports is reduced. These methods are not preferable because they lead to a reduction in transport capability.

Patent Documents 1 and 2 propose a method for suppressing and preventing deadlock of an automatic guided vehicle. However, these methods have a drawback that the operation management system and the operation management apparatus become complicated.
JP-A-5-73143 JP 2000-330633 A

  Accordingly, an object of the present invention is to provide an operation management method, a management system, and a management apparatus for a transport vehicle that can prevent a deadlock state in a plurality of transport vehicles with a simple structure and increase an operation rate.

  SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and the transport vehicle management method according to the first aspect of the present invention is such that a plurality of transport vehicles travel on a travel path having a plurality of junctions or branch points. A transport vehicle management method for managing a state, wherein the travel path has a specific region having one or a plurality of junctions or branch points, and the number of transport vehicles that can exist in the specific region is determined in advance. When one transport vehicle enters the specific area, if the number of other transport vehicles existing in the specific area is greater than or equal to the preset number, the one transport vehicle enters the specific area. It is characterized by not permitting.

  According to the management method having the above configuration, when there are a predetermined number of transport vehicles in the specific area, no other transport vehicles enter the specific area. By restricting the number of transport vehicles, it is possible to accurately prevent the occurrence of a deadlock state and increase the operating rate of the transport vehicle.

  In the transport vehicle management method according to the present invention, the one transport vehicle that is not allowed to enter the specific area waits before the junction or branch point without entering the specific area, and It is preferable to adopt a configuration in which the one transport vehicle enters the specific region when the number of other transport vehicles existing in the region becomes less than the predetermined number. Thereby, after the possibility that the other transport vehicle leaves the loop and there is no possibility of becoming a deadlock state, the one transport vehicle can enter the specific region.

  Further, in the transport vehicle management method according to the present invention, when the one transport vehicle enters the specific area, the number of other transport vehicles existing in the specific area is less than a preset number. However, it is preferable to adopt a configuration that does not permit entry of the one transport vehicle into the specific area if another transport vehicle is passing through the entering junction or branch point. Thereby, the collision of the conveyance vehicles at a junction and a branch point can be prevented beforehand.

  In addition, in the case where the above configuration is adopted, the one transport vehicle that is not allowed to enter the specific area waits before the junction or branch point without entering the specific area, and enters the specific area. On the condition that the number of other transport vehicles that are present is less than the predetermined number and the other transport vehicles are not passing through the junction or branching point to which the vehicle enters, the one transport vehicle is set as a specific region. It is preferable to adopt a configuration for entering. As a result, there is no possibility of becoming a deadlock due to other transport vehicles leaving the specific area, etc., and there is no possibility of collision at the junction or branch point. The transport vehicle can enter.

  Further, in the transport vehicle management method according to the present invention, the number less than the minimum number that may be in a deadlock state in the specific area is set as the number of transport vehicles that can exist in the specific area. It is preferable to adopt the configuration to do. As a result, the maximum number of transport vehicles that do not cause a deadlock state can be entered into the specific area, and thus the operation rate of the transport vehicles can be further increased.

  The transport vehicle management system according to the present invention is a transport vehicle management system having a plurality of transport vehicles that travel on a travel path having a plurality of junctions or branch points, and a management device that manages the travel state of the transport vehicles. The transport vehicle includes a notification unit that notifies the management device of information related to the location on the travel path, and a reception unit that receives an instruction from the management device. A position detection unit that detects the position of each transport vehicle based on information from the notification unit; and an instruction unit that instructs the transport vehicle to indicate a traveling state. When entering the specific area having one or a plurality of junctions or branch points, if the number of other transport vehicles existing in the specific area is equal to or greater than the preset number, Allow entry And it is provided so as not to.

  According to the management system configured as described above, when there are a predetermined number of transport vehicles in the specific area, the management apparatus does not allow other transport vehicles to enter the specific area. By limiting the number of transport vehicles in the region, it is possible to accurately prevent the occurrence of a deadlock state and increase the operation rate of the transport vehicle.

  In the transport vehicle management system according to the present invention, the transport vehicle waits before the junction or branch point without entering the specific area when entry into the specific area is not permitted. The instruction means permits the one transport vehicle to enter the specific area when the number of other transport vehicles existing in the specific area becomes less than the predetermined number. It is preferable to employ the configuration provided as described above. Thereby, after the possibility that the vehicle is deadlocked due to another carrier leaving the specific area or the like, the one transport vehicle can enter the specific area.

  Further, in the transport vehicle management system according to the present invention, when the one transport vehicle enters the specific region, the instruction means sets the number of other transport vehicles existing in the specific region in advance. Even if it is less than, if the other transport vehicle is passing the junction or branching point to which it enters, a configuration is adopted so as not to allow the one transport vehicle to enter the specific area. It is preferable. Thereby, the collision of the conveyance vehicles at a junction and a branch point can be prevented beforehand by an instruction from the management device.

  Further, in the case where the above configuration is adopted, the transport vehicle is provided so as to stand by before the junction or branch point without entering the specific area when entry into the specific area is not permitted. The instructing means is configured such that the number of other transport vehicles existing in the specific area is less than the predetermined number, and the other transport vehicles are not passing through the junction or branching point into which the transport vehicles enter. On the condition, it is preferable to adopt a configuration provided to allow entry into a specific area with respect to the one transport vehicle. As a result, there is no possibility of a deadlock due to another carrier leaving the loop, etc., and there is no possibility of a collision at the junction and branch point. The car can enter.

  Further, in the transport vehicle management system according to the present invention, the number less than the minimum number that may be in the deadlock state in the specific area is set as the number of transport vehicles that can exist in the specific area. It is preferable to adopt the configuration. As a result, the maximum number of transport vehicles that do not cause a deadlock state can be entered into the specific area, and thus the operation rate of the transport vehicles can be further increased.

  The transport vehicle management device according to the present invention is a transport vehicle management device that manages the travel state of a plurality of transport vehicles that travel on a travel path having a plurality of junctions or branch points, in the travel path from the transport vehicle. Position detecting means for detecting the position of each transport vehicle based on information relating to the existing position, and instruction means for instructing each transport vehicle to indicate the traveling state. The instruction means includes: When entering the specific area having one or a plurality of junctions or branch points, if the number of other transport vehicles existing in the specific area is equal to or greater than the preset number, It is provided not to allow entry.

  According to the management device having the above-described configuration, when there is a preset number of transport vehicles in the specific area, the instruction means does not allow other transport vehicles to enter the specific area. By limiting the number of transport vehicles in the region, it is possible to accurately prevent the occurrence of a deadlock state and increase the operation rate of the transport vehicle.

  Moreover, in the transport vehicle management apparatus according to the present invention, the instruction means enters the specific area when the number of other transport vehicles existing in the specific area becomes less than the predetermined number. It is preferable to adopt a configuration provided to permit entry into a specific area with respect to a transporting vehicle that is not allowed to enter and is waiting. Thereby, after the possibility that the other transport vehicle leaves the loop and there is no possibility of becoming a deadlock state, the one transport vehicle can enter the specific region.

  Moreover, in the transport vehicle management apparatus according to the present invention, the instruction means is configured such that when one transport vehicle enters the specific region, the number of other transport vehicles existing in the specific region is set in advance. Even if it is less than, it is preferable to adopt a configuration provided so as not to allow entry of the one transport vehicle into a specific area as long as another transport vehicle is passing through the entering junction. . Thereby, the collision of the conveyance vehicles at a junction and a branch point can be prevented beforehand by an instruction from the management device.

  Further, in the case where the above configuration is adopted, the instructing means has less than the predetermined number of other transport vehicles existing in the specific area, and the other junction is moved to the entering junction. It is preferable that the configuration is adopted so as to permit entry into the specific area with respect to the transport vehicle that is not allowed to enter the specific area and is standing by on condition that the vehicle is not passing. As a result, there is no possibility of a deadlock due to another carrier leaving the loop, etc., and there is no possibility of a collision at a junction or branch point. The car can enter.

  Further, in the transport vehicle management apparatus according to the present invention, the number less than the minimum number that may be in the deadlock state in the specific area is set as the number of transport vehicles that can exist in the specific area. It is preferable to adopt the configuration described above. As a result, the maximum number of transport vehicles that do not cause a deadlock state can be entered into the specific area, and thus the operation rate of the transport vehicles can be further increased.

  In each of the inventions of the present application, “does not permit entry of the transport vehicle” means, for example, that the management device sends an entry permission signal to the transport vehicle that is stopped and waiting when entering the specific area. This includes a case where the transmission is not performed, and a case where the management device transmits a signal indicating that the entry is prohibited (standby signal) in order to stop the conveyance vehicle with respect to the conveyance vehicle entering the specific area.

  Further, in each of the inventions of the present application, the “specific region” refers to a region having one or a plurality of junctions or branch points and capable of generating a deadlock state. An example of the shape is a loop portion.

  According to the present invention, it is possible to prevent the occurrence of a deadlock state by a plurality of transport vehicles and increase the operation rate of the transport vehicle on a traveling road having a specific region where a deadlock state may occur. It becomes. In addition, it is possible to prevent the transport vehicles from colliding with each other at the junction and the branch point, and to increase the operation rate of the transport vehicles.

  Hereinafter, embodiments for carrying out the present invention will be described.

  Hereinafter, an embodiment of a transport vehicle management system according to the present invention will be described with reference to FIGS. FIG. 1 is a schematic explanatory diagram for explaining the relationship between the automatic guided vehicle and the control computer in the automatic guided vehicle management system according to the first embodiment. FIG. 2 is a schematic explanatory view schematically showing the entire automatic guided vehicle management system of the embodiment. FIG. 3 is a schematic configuration diagram illustrating a schematic configuration of the operation management device of the automatic guided vehicle according to the embodiment. FIG. 4 is a flowchart of the operation management method for the automatic guided vehicle of the embodiment. FIG. 5 shows a position where entry to each merging point is requested, a position where the completion of passage of each merging point is reported, a region where an automated guided vehicle enters, and an automated guided vehicle which can exist in that region in FIG. It is a table | surface which shows the relationship of the maximum number. 6 to 9 are schematic explanatory views each schematically showing the entire management system of the automatic guided vehicle according to the embodiment, and each of the automatic guided vehicles has a plurality of automatic transfer methods for specifically explaining the management method according to the embodiment. It shows a state where the position of the car is different.

  The transport vehicle management system of this embodiment manages a plurality of transport vehicles 100,... Traveling on a travel path 300 having a plurality of junctions G1, G3 or branch points G2, G4, and the travel state of the transport vehicles 100,. Control computer 200 (management device). In FIG. 3 and the like, the specific configuration of the automatic guided vehicle will be described by taking one automatic guided vehicle 100 as an example, but the configuration of the other automatic guided vehicles 101,.

  The automatic guided vehicle 100 is a fixed path automatic guided vehicle that travels along a traveling path 300 using a magnetic induction line. The travel path 300 is provided with magnetic markers indicating travel points P1,... So that the automatic guided vehicle 100,... Recognizes the current travel position P1,. Is provided.

  In addition, as illustrated in FIG. 2, the traveling path 300 in the illustrated example is provided in an annular shape as a whole, and the automatic guided vehicle 100 travels clockwise. Further, the travel path 300 has an annular shape that forms a loop shape sandwiched between two branch points G1 and G3 (travel points P4 and P14) and two junction points G2 and G4 (travel points P7 and P17). It has a loop part. In the present embodiment, this loop portion is defined as a “specific area”. In addition, when there are four or more automatic guided vehicles 100,... In the loop portion, there is a possibility that a deadlock state will occur as described above. It will not occur. In other words, in general, if there are m possible deadlock states on the area that forms the shape of one loop sandwiched between a plurality of merge points and branch points, the deadlock state The maximum number of automatic guided vehicles that can exist without occurrence is [m−1].

  The automatic guided vehicle 100 includes recognition means for recognizing the travel points P1,... (Magnetic markers) and notification means for notifying the control computer 200 of information related to the recognized existence position. Further, this notification means is provided so as to make an entry request for a junction G1,... Or a branch point G2,. ing. Specifically, the automatic guided vehicle 100 stops when it recognizes the traveling point P3,... Before the junction point G1,... Or the branch point G2,. .. Is transmitted to the control computer 200, and when a traveling point P5,... Ahead of the junction G1,. It is provided to do.

  The automatic guided vehicle 100 includes receiving means for receiving an instruction from the control computer 200, and the automatic guided vehicle 100 is provided to stop and run in response to the instruction of the control computer 200. .

  Moreover, the automatic guided vehicle 100 is provided with a detecting unit that detects an obstacle in the traveling direction. When the detecting unit detects the obstacle, the automatic guided vehicle 100 is provided to stop so as not to collide with the obstacle. A beam sensor is preferably used as the detection means.

  The control computer 200 detects the position of each automatic guided vehicle 100,... Based on information from the notification means of each automatic guided vehicle 100,. Instruction means for giving instructions is provided. Then, the control computer 200 recognizes the position management means by communicating with the automatic guided vehicle 100,... Regarding the operation, the traveling direction, and the current position of each automatic guided vehicle 100,. I manage ...

Further, the instruction means of the control computer 200 exists in the loop portion when the automatic guided vehicle 100 enters a loop portion (specific region) having one or a plurality of branch points G1,. If the number of other automatic guided vehicles 101,... Is a preset number, the automatic guided vehicle 100 is provided so as not to allow entry into the loop portion. Specifically, the instruction means may receive a request signal for entering the loop portion from the automatic guided vehicle 100 and then the number of other automatic guided vehicles 101,... For example, a standby signal is transmitted without transmitting an entry permission signal.
Here, the set number for giving an instruction to prohibit entry is set to one less than the minimum number that is likely to be in a deadlock state in the loop portion. In the example shown in FIG. It is a stand (m-1).

  Further, when the automatic guided vehicle 100 enters the junction point G1,... Or the branch point G2,..., The instruction means of the control computer 200 sets the entering junction point G1,. If the transport vehicle 101 is passing, the automatic guided vehicle 100 is provided so as not to allow entry. Specifically, after the control computer 200 receives an approach request signal from the automatic guided vehicle 100 to the junction point G1,... Or the branch point G2,. When it is recognized that the automatic guided vehicles 101,... Are passing, the standby signal is transmitted without transmitting the entry permission signal.

  Further, the instruction means of the control computer 200 is configured such that the other automatic guided vehicles 101,... Existing in the loop portion are preliminarily provided for the automatic guided vehicle 100 that is stopped and waiting without being allowed to enter the loop portion. The unmanned guided vehicle 100 is allowed to enter the vehicle on the condition that the number is less than the predetermined number and that no other automated guided vehicle 101 is passing the junction point G1,. Is provided. Specifically, the instruction means is provided so as to transmit an entry permission signal for allowing entry into the loop portion to the automatic guided vehicle 100 when the two conditions are satisfied.

  Further, the instruction means of the control computer 200 sets the branch point G2,... To enter the other unmanned vehicles for the automatic guided vehicle 100 which is stopped and waiting without entering the branch point G2,. When the transport vehicles 101,... Complete the passage, it is provided so as to allow the waiting unmanned transport vehicle 100 to enter. It is provided so that the approach permission signal which permits the approach to the point G2, ... may be transmitted.

  The specific configurations of the control computer 200 and the automatic guided vehicle 100... Will be described in further detail. As shown in FIG. 3, the automatic guided vehicle 100 includes a control unit 500 that controls each part of the automatic guided vehicle 100, A communication unit 504 (the notifying unit and the receiving unit) that is connected to the control unit 500 and communicates with the control computer 200, a magnetic marker P 1,. A sensor 506 (the recognition means) that detects a magnetic induction line laid along the road, and is connected to the control unit 500 and travels along the predetermined travel path 300 by the traveling wheels 509 and the steering wheels 510. Detecting an obstacle in the traveling direction of the automatic guided vehicle 100 connected to the drive unit 508 and the control unit 500 for stopping and stopping Serial beam sensor 512 and a (the detection means) and.

  The communication unit 504 of the automatic guided vehicle 100 receives work information, an entry permission signal to the junction G1..., A standby instruction signal, and the like from the control computer 200, and the current position, traveling direction, and junction of the automatic guided vehicle 100. To the control computer 200 is transmitted to the control computer 200.

  Further, the control unit 500 of the automatic guided vehicle 100 is connected to the memory 502 storing a program executed by a CPU 501 described later, and executes the program stored in the memory 502 to execute the automatic guided vehicle 100. Are connected to the CPU 501 and the CPU 501 for controlling each part of the computer, and to the communication unit interface 503 and the CPU 501 for transmitting communication from the control computer 200 to the CPU 501 from the communication unit 504 and transmitting communication from the CPU 501 to the communication unit 504. A sensor unit interface 505 that transmits a signal detected by the sensor 506 to the CPU 501, a drive unit interface 507 that is connected to the CPU 501 and transmits a control signal from the CPU 501 to the drive unit 508, and a beam sensor that is connected to the CPU 501. 512 and a beam sensor unit interface 511 for transmitting a signal sensed in CPU 501.

  On the other hand, the control computer 200 manages information sent from the automatic guided vehicle 100,..., And controls the control unit 600 (the position management unit and the instruction unit) to issue an instruction to the automatic guided vehicle 100,. The communication unit 604 is connected to the control unit 600 and communicates with the communication unit 504 of the automatic guided vehicle 100.

  The control unit 600 of the control computer 200 is executed by the table data (FIG. 5) defining the work, the current position, the traveling direction, and the area constituting the loop shape of the automatic guided vehicle 100,. A memory 602 that stores a program; a CPU 601 that is connected to the memory 602 and executes the program stored in the memory 602 to issue an instruction to the automatic guided vehicle 100; and connected to the CPU 601 and from the automatic guided vehicle 100 A communication unit interface 603 for transmitting communication from the communication unit 604 to the CPU 601 and transmitting communication from the CPU 601 to the communication unit 604 is provided. The program stored in the memory is provided to cause the control computer 200 to perform a desired operation, and may be stored in the memory 602 or other recording medium. Is possible.

  Next, a management method by the transport vehicle management system will be described with reference to FIG.

  First, when the automatic guided vehicle 100 located on the travel path receives a travel command to the destination from the control computer 200, the automatic guided vehicle 100 travels toward the destination. During this traveling, the automated guided vehicle 100 recognizes the traveling points P1,... And transmits information related to the current position to the control computer 200. Upon receiving this information, the control computer 200 can detect the position of each automatic guided vehicle 100 in the travel path 300 by receiving the current position reported from the automatic guided vehicle 100.

  Then, when it is detected that the traveling automatic guided vehicle 100 has arrived at an entry request position (standby position P3,...) At one junction point G1,. , T2), and at this standby position P3,..., The automatic guided vehicle 100 transmits an approach request signal to the junction G1,... Or branch point G2,. Here, the entry request signal includes the current position and the traveling direction.

The control computer 200 receives the entry request signal (T11), determines whether to allow entry to the junction G1,... Or the branch point G2,. Although an entry permission signal is transmitted to the automatic guided vehicle 100 (T16), if the condition is not satisfied, an entry permission signal is not transmitted (T13).
Specifically, the control computer 200 determines whether or not the number of the automatic guided vehicles 101,... Existing in the loop portion to which the automatic guided vehicle 100 is going to enter is equal to or more than a predetermined number, and the junction G1,. It is determined whether another automatic guided vehicle is traveling, and if all the conditions are satisfied, an entry permission signal is transmitted (T16). If even one of the conditions is not satisfied, an entry permission signal is transmitted. Without waiting (T13). In addition, the control computer 200 determines whether other automatic guided vehicles are traveling at the branch points G2,... Where the automatic guided vehicle 100 is about to enter, and transmits an entry permission signal when the conditions are satisfied ( T16) If the condition is not satisfied, the standby signal is transmitted without transmitting the entry permission signal (T13).

  When the waiting guided automatic vehicle 100 receives the entry permission signal (T4), it enters the junction G1,... (Loop part) or the branch point G2,. On the other hand, when the automatic guided vehicle 100 receives the standby signal (T4), the automatic guided vehicle 100 continues to be stopped until the above-described condition is satisfied and the entry permission signal is received.

  Further, after transmitting the standby signal, the control computer 200 requests the entry to the current position, traveling direction, junction point G1,... Or junction point G2,... Received from each automatic guided vehicle 100,. (T14), it is determined whether the automatic guided vehicle 100 that has transmitted the standby signal is permitted to enter the junctions G1,... The determination conditions here are the same as the determination conditions when the above-described entry request signal is received. When the determination condition is satisfied, the control computer 200 transmits an entry permission signal to the waiting automatic guided vehicle 100 (T16), and the automatic guided vehicle that has received the entry permission signal Enter the points G1,... When the determination condition is not satisfied, the control computer 200 repeats the above determination (T15) without transmitting the entry permission signal.

  The automatic guided vehicle 100 that has received the entry permission signal starts traveling (T5), and detects that the passing of the junction points G1,... Is transmitted (T7), and the control computer 200 receives the communication completion signal (T17). As a result, the control computer 200 satisfies the same judgment condition as described above when other automatic guided vehicles 101,... Are waiting for passing through the junctions G1,. On the condition that this is done, an entry permission signal is transmitted to the unattended automatic guided vehicles 101,.

  Next, regarding the management method of this embodiment as described above, a deadlock prevention method will be described in more detail with reference to FIGS. 2 and 6 to 9.

First, in the travel path 300 of FIGS. 2 and 6 to 9, a region constituting a loop shape sandwiched between the two junctions G1 and G3 and the two branch points G2 and G4 is defined as R1 (loop part). Then, the travel points constituting this region R1 are
R1 = {P4, P5, P6, P7, P14, P15, P16, P17}
It is. It is known in advance that there may be a deadlock state when there are four automatic guided vehicles 100 in the region R1. That is, the maximum number of automatic guided vehicles 100 that can exist without falling into a deadlock state on the region R1 is three.

In the travel path of FIG. 1, it can exist in a position (standby position) for requesting entry to each junction (branch point), a position for reporting completion of passage of the junction, an area where the automated guided vehicle enters, and the area. The relationship between the maximum number of automatic guided vehicles is as shown in the table of FIG. Further, the entry condition to the loop portion based on this table is a case where the following two conditions are satisfied.
“Condition 1” The number of automated guided vehicles existing on the loop portion R1 is less than “Condition 2”. There is no other automated guided vehicle at the junction where the automated guided vehicle requested entry. In the table, when the area where the automatic guided vehicle enters and the maximum number of automatic guided vehicles that can exist in the area is “−”, it indicates that there is no related area, that is, the branch point G2 , G4, “Condition 1” is not used for determination, and only “Condition 2” is the entry condition. In addition, “condition 1” is not used for the determination even when the confluence is entered from the loop portion (right turn from the branch points G2 and G4), and only “condition 2” is the entry condition.

  In the case of FIG. 2, one automated guided vehicle 100 is about to enter the region R1 (junction point G1) and stops at the entry request position P3 (standby position) before the junction point G1, and this region R1. Above, other automatic guided vehicles 101 and 102 are traveling on traveling points P6 and P14, respectively. In this case, when the automated guided vehicle 100 stopped at the entry request position P3 transmits an entry request to the junction G1 to the control computer 200, the control computer 200 displays the table shown in FIG. Based on “Condition 2”, it is determined whether or not to permit entry into the automatic guided vehicle 100. The control computer 200 has two automatic guided vehicles 101,... On the region R1, and there are no other automatic guided vehicles 101,... Passing through the junction G1. Since both “1” and “condition 2” are satisfied, an entry permission signal is transmitted to the waiting automatic guided vehicle 100. The automatic guided vehicle 100 that has received the entry permission signal from the control computer 200 starts running and enters the junction G2 (loop portion). Since the approach to the loop portion is controlled in this way, it is possible to prevent a deadlock state and to increase the operating rate of the automatic guided vehicle.

  In FIG. 2, when the automated guided vehicle 101 located at the travel point P6 before the branch point G2 makes a right turn, when an entry request to the branch point G2 and the junction point G3 is transmitted to the control computer 200, the control vehicle 200 The computer 200 determines whether or not to permit entry into the automatic guided vehicle 101 based on “Condition 2”. In FIG. 2, the control computer 200 does not satisfy “condition 2” and transmits a standby signal to the automatic guided vehicle 101 because there is another automatic guided vehicle 102 passing through the junction G <b> 3. When the automatic guided vehicle 101 travels straight, it transmits an entry request to the branch point G2 to the control computer 200, and the control computer 200 has no other automatic guided vehicle passing through the branch point G2. First, in order to satisfy “condition 2”, an entry permission signal is transmitted to the automatic guided vehicle 101.

  In the case of the example shown in FIG. 6, one automated guided vehicle 100 is stopped (waiting) at the entry request position P3 to enter the region R1, and the other three unmanned vehicles are on the region R1. The transport vehicles 101, 102, and 103 are traveling on traveling points P6, P14, and P16, respectively. In this case, when the automated guided vehicle 100 stopped at the entry request position P3 transmits an entry request to the junction G1 to the control computer 200, the control computer 200 displays the table shown in FIG. ”And“ Condition 2 ”, it is determined whether or not to permit entry into the automatic guided vehicle 100. Since the control computer 200 has three automatic guided vehicles 101,... Existing on the region R1 and does not satisfy “condition 1”, the control computer 200 transmits a standby signal to the automatic guided vehicle 100. To do. The automatic guided vehicle 100 that has received the standby signal from the control computer 200 continues to stop at the travel point P3. Next, the control computer 200 determines whether or not to permit entry into the automatic guided vehicle 100 based on the table shown in FIG. 5, “Condition 1” and “Condition 2” in a certain time cycle.

  After the state of FIG. 6, when the other automatic guided vehicle 103 moves out of the region R <b> 1 as shown in FIG. 7 and “condition 1” and “condition 2” are satisfied, the control computer 200 moves the automatic guided vehicle 200. An entry permission signal is transmitted to the car 100. The automatic guided vehicle 100 that has received the entry permission signal from the control computer 200 starts traveling. In this way, it is possible to prevent the deadlock state from occurring, and to increase the operating rate of the automatic guided vehicle.

  In FIG. 6, when the automated guided vehicle 101 located at the traveling point P6 before the branch point G2 makes a right turn, if an entry request to the branch point G2 and the junction point G3 is transmitted to the control computer 200, the control vehicle 200 The computer 200 determines whether or not to permit entry into the automatic guided vehicle 101 based on “Condition 2”. In FIG. 6, the control computer 200 does not satisfy “condition 2” and transmits a standby signal to the automatic guided vehicle 101 because there is another automatic guided vehicle 102 passing through the junction G <b> 3. Further, after that, the state becomes as shown in FIG. 7, that is, the automatic guided vehicle 102 that has passed through the confluence G3 reaches the traveling point P15 before the confluence G3, and the control computer 200 performs this unmanned operation. When a report of the completion of passage is received from the transport vehicle 102, an entry permission signal is transmitted to the automatic guided vehicle 101 that has been waiting in response to the standby signal. On the other hand, when the automatic guided vehicle 101 in FIG. 6 goes straight, it transmits an entry request signal to the branch point G2 to the control computer 200, and the control computer 200 transmits another automatic guided vehicle passing through the branch point G2. Since the vehicle does not exist and “condition 2” is satisfied, an entry permission signal is transmitted to the automatic guided vehicle 101.

  In addition, in FIG. 6, when the automatic guided vehicle 103 positioned at the traveling point P <b> 16 before the branch point G <b> 4 travels straight, when the request to enter the branch point G <b> 4 is transmitted to the control computer 200, the control computer 200 reads “ It is determined whether or not to permit entry into the automatic guided vehicle 103 based on “Condition 2”. Then, the control computer 200 does not have any other automatic guided vehicle passing through the branch point G4 in FIG. 6 and satisfies the “condition 2”. Therefore, the control computer 200 transmits an entry permission signal to the automatic guided vehicle 103, The automatic guided vehicle 103 that has received this moves outside the loop portion (see FIG. 7). When the automatic guided vehicle 103 in FIG. 6 turns right, an entry request to the branch point G4 and the junction G1 is transmitted to the control computer 200, and the control computer 200 transmits the unmanned transfer based on “Condition 2”. It is determined whether or not the vehicle 103 is permitted to enter. Then, the control computer 200 does not have any other automatic guided vehicle passing through the branch point G4 and the junction point G1 in FIG. 6, and satisfies the “condition 2”. Will be sent.

  In the example shown in FIG. 8, one automatic guided vehicle 100 is stopped (waiting) at the entry request position P3 so as to enter the region R1, and another automatic guided vehicle 101 is placed on the region R1. , 102 are traveling at traveling points P6 and P17, respectively, and one of the automatic guided vehicles 102 is turning right and passing through the junctions G4 and G1. In this case, when the automated guided vehicle 100 stopped at the entry request position P3 transmits an entry request to the junction G1 to the control computer 200, the control computer 200 displays the table shown in FIG. ”And“ Condition 2 ”, it is determined whether or not to permit entry into the automatic guided vehicle 100. In this case, the number of the automatic guided vehicles 101,... Existing on the region R1 is two, but since there are other automatic guided vehicles 102 passing through the junction G1, “condition 2” is satisfied. Since it is not satisfied, the control computer 200 transmits a standby signal to the waiting automatic guided vehicle 100. The automatic guided vehicle 100 that has received the standby signal from the control computer 200 continues to stop at the travel point P3. Next, the control computer 200 determines whether or not to permit entry into the waiting automatic guided vehicle 100 based on the table shown in FIG. 5, “condition 1” and “condition 2” in a certain time cycle.

  After the state of FIG. 8, when another automated guided vehicle 102 travels as shown in FIG. 9 and passes the travel point P5 which is the passing completion report position of the junction G1, and transmits a passing completion signal to the control computer 200. Since “condition 1” and “condition 2” are satisfied, the control computer 200 transmits an entry permission signal to the unattended guided vehicle 100. The automatic guided vehicle 100 that has received the entry permission signal from the control computer 200 starts traveling. In this way, it is possible to prevent collisions between the automatic guided vehicles at the junction / branch point and to increase the operating rate of the automatic guided vehicle.

  The present invention is not limited to the configuration of the above-described embodiment, and can be appropriately modified within the range intended by the present invention. For example, in the above-described embodiment, a traveling road having one loop portion. As described above, the present invention can be applied even to a traveling road having a plurality of loop portions.

  Further, in the above embodiment, the description has been given of the case where the above-mentioned “condition 1” is not used as a judgment condition at the branch point. For example, in the case of entering another loop portion after entering the branch point. , “It is also possible to determine whether or not the number of other transport vehicles existing in the entering loop portion is equal to or larger than a preset number”.

  In the above embodiment, the control computer transmits a standby signal to the unattended automatic guided vehicle when entry is not permitted, but only when permitting without transmitting the standby signal. It is also possible to provide the automatic guided vehicle to stand by at the standby position as long as it does not receive the entry permission signal by transmitting the entry permission signal.

  In the above-described embodiment, the automatic guided vehicle that has reached the standby position stops and receives an entry permission signal from the control computer. For example, the automatic guided vehicle travels in front of the standby position. (E.g., when traveling at a travel point P2 before the standby position P3), when the entry request signal is transmitted and a standby signal is received from the control computer, or an entry permission signal is received from the control computer. If it is not received, it may be configured to stop at the standby position.

It is a schematic explanatory drawing for demonstrating the relationship between the automatic guided vehicle and the control computer in the management system of the automatic guided vehicle of Example 1 of this invention. It is a schematic explanatory drawing which represents typically the whole management system of the automatic guided vehicle of the Example. It is a schematic block diagram which shows schematic structure of the operation management apparatus of the automatic guided vehicle of the Example. It is a flowchart of the operation management method of the automatic guided vehicle of the Example. In the embodiment, the relationship between the position that requests entry to each junction, the position that reports the completion of passage of each junction, the area where the automated guided vehicle enters, and the maximum number of automated guided vehicles that can exist in that area It is a table | surface which shows. It is a schematic explanatory drawing which represents typically the whole management system of the automatic guided vehicle of the Example. It is a schematic explanatory drawing which represents typically the whole management system of the automatic guided vehicle of the Example. It is a schematic explanatory drawing which represents typically the whole management system of the automatic guided vehicle of the Example. It is a schematic explanatory drawing which represents typically the whole management system of the automatic guided vehicle of the Example. It is explanatory drawing explaining the outline of the conventional operation management system of an automatic guided vehicle, (A) is a schematic explanatory drawing showing the whole of the system typically, (B) It is a table | surface which shows the relationship between the position which requests | requires approach to a confluence | merging point, the confluence | merging point which requests | requires the approach, and the position which reports the completion of passage of each confluence. In the same prior art example, it is explanatory drawing explaining the deadlock occurrence state.

Explanation of symbols

100, 101, 102, 103: Automated guided vehicle 200: Control computer 300, 310: Transport path 500, 600: Control unit 501, 601: CPU
502, 602: Memory 503, 603: Communication unit interface 504, 604: Communication unit 505: Sensor unit interface 506: Sensor 507: Drive unit interface 508: Drive unit 509: Traveling wheel 510: Steering wheel 511: Beam sensor unit interface 512 : Beam sensor

Claims (17)

A transport vehicle management method for managing a traveling state in which a plurality of transport vehicles travel on a travel path having a plurality of junctions or branch points,
The travel path has a specific area having one or more junctions or branch points;
Preset the number of vehicles that can exist in this specific area,
When one transport vehicle enters the specific area, if the number of other transport vehicles existing in the specific area is greater than or equal to the preset number, entry of the one transport vehicle into the specific area is not permitted. A method for managing a transport vehicle as a feature. A method for managing a transport vehicle according to claim 1,
One transport vehicle that is not allowed to enter the specific area waits before the junction or branch point without entering the specific area,
A transport vehicle operation management method, comprising: causing the one transport vehicle to enter the specific region when the number of other transport vehicles existing in the specific region is less than the predetermined number. It is a management method of the conveyance vehicle according to claim 1 or 2,
When the one transport vehicle enters the specific area, even if the number of other transport cars existing in the specific area is less than the preset number, the entering junction or branch point is set as another transport car. If the vehicle is passing, entry of the one transport vehicle into the specific area is not permitted. A method for managing a transport vehicle according to claim 3,
One transport vehicle that is not allowed to enter the specific area waits before the junction or branch point without entering the specific area,
The one transport vehicle is provided on the condition that the number of other transport vehicles existing in the specific area is less than the predetermined number and that the other transport vehicles are not passing through the junction or branching point into which the transport vehicle enters. A method for managing the operation of a transport vehicle, characterized in that the vehicle enters a specific area. A method for managing a transport vehicle according to any one of claims 1 to 4,
A transport vehicle operation management method, wherein the number of transport vehicles that can be in a deadlock state in the specific area is set as the number of transport vehicles that can exist in the specific area. A transport vehicle management system having a plurality of transport vehicles that travel on a travel path having a plurality of junctions or branch points, and a management device that manages the travel state of the transport vehicles,
The transport vehicle includes a notification unit that notifies the management device of information related to the position on the travel path, and a reception unit that receives an instruction from the management device.
The management device includes a position detection unit that detects the position of each transport vehicle based on information from the notification unit of the transport vehicle, and an instruction unit that instructs the transport vehicle to indicate a traveling state.
When the transporting vehicle enters the specific area having one or a plurality of junctions or branch points, the number of other transport vehicles existing in the specific area is greater than or equal to a preset number. The transport vehicle management system is provided so as not to allow entry of the one transport vehicle into a specific area. The transport vehicle management system according to claim 6,
The transport vehicle is provided to wait before the junction or branch point without entering the specific area when entry into the specific area is not permitted,
The instruction means is provided to allow the one transport vehicle to enter the specific region when the number of other transport vehicles existing in the specific region becomes less than the predetermined number. A transport vehicle management system characterized by that. The transport vehicle management system according to claim 6 or 7,
The instruction means, when one transport vehicle enters the specific area, even if the number of other transport vehicles existing in the specific area is less than a preset number, A transport vehicle management system is provided so as not to permit entry of the one transport vehicle into a specific area when another transport vehicle is passing. The transport vehicle management system according to claim 8,
The transport vehicle is provided to wait before the junction or branch point without entering the specific area when entry into the specific area is not permitted,
The instruction means is provided on the condition that the number of other transport vehicles existing in the specific area is less than the predetermined number and that the other transport vehicles are not passing through the junction or branching point into which the transport vehicles enter. A transport vehicle management system, wherein the transport vehicle management system is provided to allow entry into a specific area with respect to the one transport vehicle. The transport vehicle management system according to any one of claims 6 to 9,
A transport vehicle management system, wherein the number of transport vehicles that can be in a deadlock state in the specific area is set to be one less than the minimum number of transport vehicles that can exist in the specific area. A transport vehicle management device that manages the travel state of a plurality of transport vehicles traveling on a travel path having a plurality of junctions or branch points,
A position detection means for detecting the position of each transport vehicle based on information relating to the position on the travel path from the transport vehicle, and an instruction means for instructing the travel state to each transport vehicle
When the transporting vehicle enters the specific area having one or a plurality of junctions or branch points, the number of other transport vehicles existing in the specific area is greater than or equal to a preset number. The transport vehicle management apparatus is provided so as not to permit entry of the one transport vehicle into a specific area. The transport vehicle management device according to claim 11,
The instructing means is configured to provide a specific area for a transport vehicle that is not allowed to enter the specific area and is waiting when another transport vehicle existing in the specific area is less than the predetermined number. The transport vehicle management device is provided so as to permit entry into the vehicle. The transport vehicle management apparatus according to claim 11 or 12,
The instruction means, when one transport vehicle enters the specific area, even if the number of other transport vehicles existing in the specific area is less than a preset number, The transport vehicle management apparatus is provided so as not to permit entry of the one transport vehicle into a specific area when another transport vehicle is passing. The transport vehicle management device according to claim 13,
The instruction means is provided on the condition that the number of other transport vehicles existing in the specific area is less than the predetermined number and that the other transport vehicles are not passing through the junction or branching point into which the transport vehicles enter. The transport vehicle management apparatus is provided so as to permit entry into the specific area for a transport vehicle that is not permitted to enter the specific area and is waiting. The transport vehicle management apparatus according to any one of claims 11 to 14,
The transport vehicle management apparatus, wherein the number of transport vehicles that can be in a deadlock state in the specific area is set as the number of transport vehicles that can exist in the specific area. 16. A program for a transport vehicle management apparatus, which is provided to cause the instruction means of the transport vehicle management apparatus according to claim 11 to perform the various processes. A program recording medium for a transport vehicle management apparatus, wherein the program for the transport vehicle management apparatus according to claim 16 is stored.

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